Helicopter coaxial double-rotor wing two-rotation three-movement parallel driving device

The invention relates to a helicopter coaxial double-rotor wing two-rotation three-movement parallel driving device. The device comprises a rotor wing mechanism, a movable table, a base, two PSS type driving rods, a PUU type driving rod, two rotating transmission shafts, two engines and a spring. The rotor wing mechanism comprises a movable table, a mandrel, an inner sleeve, an outer sleeve, a pull rod set, an upper paddle set, a lower paddle set, an upper connecting rod set, a lower connecting rod set, a gear set and an auxiliary electric rod. The upper paddle set and the lower paddle set are rotationally connected with the convex circular truncated cones of the coaxial inner sleeve and outer sleeve; the movable table is rotationally connected with the inner sleeve and the outer sleeve; the two ends of each of three driving rods are hinged to the movable table and the base to drive the rotor wing mechanism to swing and stretch out and draw back. the engine are connected with the bases; the two ends of each r